\begin{tabular}{c | c | c | c | c | c}
{\bf Benchmark} & {\bf MaxF} & {\bf AP} & {\bf PRE} & {\bf REC} & {\bf FPR} & {\bf FNR}\\ \hline
UM\_ROAD & 83.81 \% & 73.95 \% & 78.56 \% & 89.80 \% & 11.16 \% & 10.20 \%\\
UMM\_ROAD & 90.60 \% & 85.38 \% & 85.96 \% & 95.78 \% & 17.20 \% & 4.22 \%\\
UU\_ROAD & 83.63 \% & 72.58 \% & 77.38 \% & 90.97 \% & 8.67 \% & 9.03 \%\\
URBAN\_ROAD & 86.58 \% & 78.34 \% & 82.63 \% & 90.92 \% & 10.53 \% & 9.08 \%
\end{tabular}